Vehicle control device, vehicle control method, and storage medium

Abstract

A vehicle control device includes a storage medium storing computer-readable instructions and a processor connected to the storage medium. The processor executes the computer-readable instructions to recognize a road marking located in a travel direction of a vehicle, determine whether or not the recognized road marking matches a map road marking based on map information stored in a storage unit and determine whether or not a one-sided road marking that has been recognized matches a one-sided map road marking when the road marking has been recognized only for one side, correct the one-sided map road marking on the basis of the recognized one-sided road marking when it is determined that the recognized one-sided road marking matches the one-sided map road marking, and perform travel control for the vehicle. The processor calculates a first self-position of the vehicle based on the one-sided map road marking before the correction on the basis of a travel state of the vehicle, calculates a second self-position of the vehicle based on the one-sided map road marking after the correction or the recognized one-sided road marking, and performs the travel control for the vehicle so that the vehicle travels to a position based on the map road marking before the correction or a position based on the one-sided map road marking after re-correction offset from the recognized one-sided road marking to the map road marking before the correction when an error between the first self-position and the second self-position is greater than or equal to a first threshold value.

What is claimed is: 
     
         1 . A vehicle control device comprising:
 a storage medium storing computer-readable instructions; and   a processor connected to the storage medium, the processor executing the computer-readable instructions to:   recognize a road marking located in a travel direction of a vehicle,   determine whether or not the recognized road marking matches a map road marking based on map information stored in a storage unit and determine whether or not a one-sided road marking that has been recognized matches a one-sided map road marking when the road marking has been recognized only for one side,   correct the one-sided map road marking on the basis of the recognized one-sided road marking when it is determined that the recognized one-sided road marking matches the one-sided map road marking, and   perform travel control for the vehicle,   wherein the processor calculates a first self-position of the vehicle based on the one-sided map road marking before the correction on the basis of a travel state of the vehicle, calculates a second self-position of the vehicle based on the one-sided map road marking after the correction or the recognized one-sided road marking, and performs the travel control for the vehicle so that the vehicle travels to a position based on the map road marking before the correction or a position based on the one-sided map road marking after re-correction offset from the recognized one-sided road marking to the map road marking before the correction when an error between the first self-position and the second self-position is greater than or equal to a first threshold value.   
     
     
         2 . The vehicle control device according to  claim 1 , wherein the position based on the map road marking before the correction is a position located between two or more map road markings. 
     
     
         3 . The vehicle control device according to  claim 1 , wherein the position based on the map road marking before the correction is a future position predicted from the travel state when the vehicle has traveled on the basis of the map road marking before the correction. 
     
     
         4 . The vehicle control device according to  claim 1 , wherein the position based on the map road marking before the correction is a position obtained by correcting a position located between two or more map road markings according to a future position predicted from the travel state in which the vehicle has traveled on the basis of the map road marking before the correction. 
     
     
         5 . The vehicle control device according to  claim 1 , wherein the processor performs the travel control for the vehicle so that the vehicle travels to the position based on the map road marking before the correction when errors between the first self-position and the second self-position obtained in a plurality of calculation processes are greater than or equal to the first threshold value and any one of the errors obtained in the plurality of calculation processes is greater than or equal to a second threshold value. 
     
     
         6 . The vehicle control device according to  claim 1 , wherein the processor stops the travel control for the vehicle when a state in which the travel control for the vehicle is performed has continued during a predetermined period so that the vehicle travels to a position based on the map road marking before the correction. 
     
     
         7 . A vehicle control method comprising:
 recognizing, by a computer mounted on a vehicle, a road marking located in a travel direction of the vehicle;   determining, by the computer, whether or not the recognized road marking matches a map road marking based on map information stored in a storage unit and determining whether or not a one-sided road marking that has been recognized matches a one-sided map road marking when the road marking has been recognized only for one side;   correcting, by the computer, the one-sided map road marking on the basis of the recognized one-sided road marking when it is determined that the recognized one-sided road marking matches the one-sided map road marking;   performing, by the computer, travel control for the vehicle; and   calculating, by the computer, a first self-position of the vehicle based on the one-sided map road marking before the correction on the basis of a travel state of the vehicle, calculating a second self-position of the vehicle based on the one-sided map road marking after the correction or the recognized one-sided road marking, and performing the travel control for the vehicle so that the vehicle travels to a position based on the map road marking before the correction or a position based on the one-sided map road marking after re-correction offset from the recognized one-sided road marking to the map road marking before the correction when an error between the first self-position and the second self-position is greater than or equal to a first threshold value.   
     
     
         8 . A computer-readable non-transitory storage medium storing a program for causing a computer mounted on a vehicle to:
 recognize a road marking located in a travel direction of the vehicle;   determine whether or not the recognized road marking matches a map road marking based on map information stored in a storage unit and determine whether or not a one-sided road marking that has been recognized matches a one-sided map road marking when the road marking has been recognized only for one side;   correct the one-sided map road marking on the basis of the recognized one-sided road marking when it is determined that the recognized one-sided road marking matches the one-sided map road marking;   perform travel control for the vehicle; and   calculate a first self-position of the vehicle based on the one-sided map road marking before the correction on the basis of a travel state of the vehicle, calculate a second self-position of the vehicle based on the one-sided map road marking after the correction or the recognized one-sided road marking, and perform the travel control for the vehicle so that the vehicle travels to a position based on the map road marking before the correction or a position based on the one-sided map road marking after re-correction offset from the recognized one-sided road marking to the map road marking before the correction when an error between the first self-position and the second self-position is greater than or equal to a first threshold value.